How to interface servo motor with GR-KAEDE?

Hi Sir,

I have tried to build an arduino code involving the usage of simple Futaba S3003 standard size servo . However, I am not getting the desired level of current necessary to drive them. Please help us in achieving smooth rotation of servo. 

Servo Specification :-

Stall torque -4.8v - 3.2 kg.cm

Stall torque -6.0v - 4.1kg.cm